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汽车安全与节能学报

汽车安全与节能学报 ›› 2020, Vol. 11 ›› Issue (2): 205-211.DOI: 10.3969/j.issn.1674-8484.2020.02.007

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 一种电动助力制动系统的主动制动分层控制算法

柴晓东 1 ，夏怀成 1* ，王占朝 2 ，屈紫君 1   

  1. （1. 燕山大学 车辆与能源学院，秦皇岛 066004，中国；2. 清华大学 车辆与运载学院，北京 100084，中国）
  • 收稿日期:2019-12-19 出版日期:2020-06-30 发布日期:2020-06-30
  • 通讯作者: 夏怀成 (1960—)，男 ( 汉 )，河北，教授。E-mail: xiahuaicheng163@sina.com。
  • 作者简介:第一作者 / First author ： 柴晓东 (1993—)，男 ( 汉 )，河南，硕士研究生。E-mail: 2238924900@qq.com。

Active braking hierarchical control algorithm of electric power-assisted brake system

CHAI Xiaodong 1 , XIA Huaicheng 1* , WANG Zhanchao 2 , QU Zijun 1   

  1. (1. College of Vehicle and Energy, Yanshan University, Qinhuangdao, Hebei 066004, China 2. College of Vehicle and Transportation, Tsinghua University, Beijing 100084, China)
  • Received:2019-12-19 Online:2020-06-30 Published:2020-06-30

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摘要： 提出了一种主动制动分层控制算法，以满足汽车对统一电动助力主动制动的需要。该方法分 上、中、下3层控制。上层控制用前馈加反馈的纵向减速度闭环控制方法，将车辆的目标减速度转化 为目标压力；中层控制以制动系统的压力—电流模型为前馈，以基于目标压力分段的比例积分微分 (PID) 控制为反馈，将目标压力转化为电动助力器助力电机的目标电流；下层控制通过对电机输入电压的脉 冲宽度调制 (PWM)，实现对电机目标电流的准确跟随。结果表明：在测试中，该算法的主动减速度 控制的最大误差为±0.3 m/s2 ，减速度的响应时间小于 300 ms。因而，该算法满足了汽车统一主动制 动的需要。

关键词: 电动助力制动系统, 主动制动, 分层控制, 比例积分微分 (PID) 控制

Abstract: An active braking hierarchical control algorithm was proposed for electric power-assisted braking systems to meet the needs for automobile unified active braking. The control method was divided into three layers: the upper, the middle, and the lower layer control. The upper-layer control proposed a feedforward and feedback closed-loop control method of longitudinal deceleration to convert the vehicle's target deceleration into target pressure; The middle-layer control took the braking system pressure-current model as feedforward and the proportion−integration−differentiation (PID) control based on the target pressure segments as feedback to converse the target pressure into the target current of the electric booster power motor; The lower-layer control realized the accurate follow of the target current of the motor through pulse-width modulation (PWM) of the motor input voltages. The test results show that the maximum error of the active deceleration control is ± 0.3 m/s2 with a deceleration response time being less than 300 ms. Therefore, the control algorithm meets the automobile’s needs for unified active braking.

Key words: electric power-assisted braking system, active braking, hierarchical control, proportion integration differentiation (PID) control

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